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1、使用F28P650DK9的TZFRC【OST】封锁和TZCLR【OST】解封PWM1和PWM2的功能时发现如下异常:
(1)在主循环循序封锁解封PWM,周期1mS,此时TZFRC和TZCLR封锁正常。PWM1和PWM2都能按周期封锁和解封锁(PWM1A——黄色,PWM2A—绿色)
(2)若再以上基础上开启CPUTimer0中断,中断内无任何动作。此时TZFRC和TZCLR封锁异常。PWM1无法封锁,PWM2则正常封锁和解封锁。(PWM1A——黄色,PWM2A—绿色)
(3)若再(2)的基础上不关闭CPUTimer0中断: // PieCtrlRegs.PIEIER1.bit.INTx7 = 1;,则此时TZFRC和TZCLR封锁正常。PWM1和PWM2都能按周期封锁和解封锁。
以上:希望TI的工程师给出答复:出现以上的原因是什么?为什么PWM的TZFRC的封锁PWM1的功能会收到CPUTimer0的影响??
备注:工程来自官方例程《epwm_ex1_trip_zone》修改而来
//########################################################################### // // FILE: epwm_ex1_trip_zone.c // // TITLE: ePWM module using Trip-Zone submodule. // //! \addtogroup cpu01_example_list //! <h1> EPWM Trip Zone Module (epwm_trip_zone)</h1> //! //! This example configures ePWM1 and ePWM2 as follows //! - ePWM1 has TZ1 as one shot trip source //! - ePWM2 has TZ1 as cycle by cycle trip source //! //! Initially tie TZ1 high. During the test, monitor ePWM1 or ePWM2 //! outputs on a scope. Pull TZ1 low to see the effect. //! //! \b External \b Connections \n //! - EPWM1A is on GPIO0 //! - EPWM2A is on GPIO2 //! - TZ1 is on GPIO12 //! //! This example also makes use of the Input X-BAR. GPIO12 (the external //! trigger) is routed to the input X_BAR, from which it is routed to TZ1. //! //! The TZ-Event is defined such that EPWM1A will undergo a One-Shot Trip //! and EPWM2A will undergo a Cycle-By-Cycle Trip. //! // _____________ __________________ // | | | | // GPIO12 -----| I/P X-BAR |-----TZ1-----| ePWM TZ Module |-----TZ-Event // |___________| |________________| // // // //########################################################################### // // // $Copyright: // Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the // distribution. // // Neither the name of Texas Instruments Incorporated nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // $ //########################################################################### // // Included Files // #include "f28x_project.h" // // Defines // #define EXTTrig // Leave Uncommented for Testing with External Trigger. // Comment for Testing with ePWM Trigger. // // Globals // Uint32 EPwm1TZIntCount; Uint32 EPwm2TZIntCount; // // Function Prototypes // void InitEPwm(void); void InitEPwm_Gpio(void); __interrupt void cpuTimer0ISR(void); __interrupt void epwm_isr(void); // // Main // int cnt = 0; void main(void) { // // Step 1. Initialize System Control: // PLL, WatchDog, enable Peripheral Clocks // This example function is found in the f2838x_sysctrl.c file. // InitSysCtrl(); // // Step 2. Initialize GPIO: // This example function is found in the f2838x_gpio.c file and // illustrates how to set the GPIO to it's default state. // // InitGpio(); // // enable PWM1, and PWM2 // // // For this case just init GPIO pins for ePWM1, ePWM2, ePWM3 // InitEPwm_Gpio(); // // Step 3. Clear all interrupts and initialize PIE vector table: // Disable CPU interrupts // DINT; // // Initialize the PIE control registers to their default state. // The default state is all PIE interrupts disabled and flags // are cleared. // This function is found in the f2838x_piectrl.c file. // InitPieCtrl(); // // Disable CPU interrupts and clear all CPU interrupt flags: // IER = 0x0000; IFR = 0x0000; // // Initialize the PIE vector table with pointers to the shell Interrupt // Service Routines (ISR). // This will populate the entire table, even if the interrupt // is not used in this example. This is useful for debug purposes. // The shell ISR routines are found in f2838x_defaultisr.c. // This function is found in f2838x_pievect.c. // InitPieVectTable(); // // Interrupts that are used in this example are re-mapped to // ISR functions found within this file. // EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.TIMER0_INT = &cpuTimer0ISR; EDIS; // This is needed to disable write to EALLOW protected registers // // Step 4. Initialize the Device Peripherals: // EALLOW; CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =0; EDIS; InitEPwm(); EALLOW; CpuSysRegs.PCLKCR0.bit.TBCLKSYNC =1; EDIS; ConfigCpuTimer(&CpuTimer0, 200, 1000); CpuTimer0Regs.TCR.all = 0x4000; // // Step 5. User specific code, enable interrupts: // // // Enable CPU INT3 which is connected to EPWM1-3 INT: // IER |= M_INT1; // // Enable EPWM INTn in the PIE: Group 3 interrupt 1-3 // PieCtrlRegs.PIEIER1.bit.INTx7 = 1; // Enable global Interrupts and higher priority real-time debug events: // EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM // // Step 6. IDLE loop. Just sit and loop forever (optional): // for(;;) { cnt++; if(cnt == 1) { EALLOW; EPwm1Regs.TZFRC.bit.OST = 0x01; EPwm2Regs.TZFRC.bit.OST = 0x01; EDIS; } else { cnt = 0; EALLOW; EPwm1Regs.TZCLR.bit.OST = 0x01; EPwm2Regs.TZCLR.bit.OST = 0x01; EDIS; } DELAY_US(1000); } } __interrupt void cpuTimer0ISR(void) { PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; } void InitEPwm() { // // Enable TZ1 as one shot trip sources // EALLOW; EPwm1Regs.TZSEL.bit.OSHT1 = 1; // // Set TZA // EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_LO; EPwm1Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // // Enable TZ interrupt // EPwm1Regs.TZEINT.bit.OST = 0; EDIS; EPwm1Regs.TBPRD = 1000; // Set timer period EPwm1Regs.TBPHS.bit.TBPHS = 0x0000; // Phase is 0 EPwm1Regs.TBCTR = 0x0000; // Clear counter // // Setup TBCLK // EPwm1Regs.TBCTL.bit.FREE_SOFT = 0x02; EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Disable phase loading EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1; // Clock ratio to SYSCLKOUT EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1; EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW; // Load registers every ZERO EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // // Setup compare // EPwm1Regs.CMPA.bit.CMPA = 500; EPwm1Regs.CMPB.bit.CMPB = 500; // // Set actions // EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR; EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET; EPwm1Regs.AQCTLB.bit.CAU = AQ_CLEAR; EPwm1Regs.AQCTLB.bit.ZRO = AQ_SET; // // Enable TZ1 as one shot trip sources // EALLOW; EPwm2Regs.TZSEL.bit.OSHT1 = 1; // // Set TZA // EPwm2Regs.TZCTL.bit.TZA = TZ_FORCE_LO; EPwm2Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // // Enable TZ interrupt // EPwm2Regs.TZEINT.bit.OST = 0; EDIS; EPwm2Regs.TBPRD = 1000; // Set timer period EPwm2Regs.TBPHS.bit.TBPHS = 0x0000; // Phase is 0 EPwm2Regs.TBCTR = 0x0000; // Clear counter // // Setup TBCLK // EPwm2Regs.TBCTL.bit.FREE_SOFT = 0x02; EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Disable phase loading EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1; // Clock ratio to SYSCLKOUT EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1; EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW; // Load registers every ZERO EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // // Setup compare // EPwm2Regs.CMPA.bit.CMPA = 500; EPwm2Regs.CMPB.bit.CMPB = 500; // // Set actions // EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR; EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET; EPwm2Regs.AQCTLB.bit.CAU = AQ_CLEAR; EPwm2Regs.AQCTLB.bit.ZRO = AQ_SET; } void InitEPwm_Gpio(void) { EALLOW; GpioCtrlRegs.GPAPUD.bit.GPIO0 = 1; // Disable pull-up on GPIO0 (EPWM1A) GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // Configure GPIO0 as EPWM1A GpioCtrlRegs.GPAPUD.bit.GPIO1 = 1; // Disable pull-up on GPIO0 (EPWM1A) GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1; // Configure GPIO0 as EPWM1A GpioCtrlRegs.GPAPUD.bit.GPIO2 = 1; // Disable pull-up on GPIO2 (EPWM2A) GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1; // Configure GPIO2 as EPWM2A GpioCtrlRegs.GPAPUD.bit.GPIO3 = 1; // Disable pull-up on GPIO2 (EPWM2A) GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1; // Configure GPIO2 as EPWM2A EDIS; } // // End of file //
(3)若再(2)的基础上不关闭CPUTimer0中断:
步骤(3)和(2)之间的区别能再详细描述一下吗?
实验现象有多次复现过吗?
因为TZ信号配置的是在for循环中由软件触发及清除的,所以运行必然会受到其它中断的影响。
两路信号的TZ配置有什么区别吗?
感谢 Yale Li回复,
1、步骤(3)和(2)之间的区别能再详细描述一下吗?
答复: “(3)若再(2)的基础上关闭CPUTimer0中断: // PieCtrlRegs.PIEIER1.bit.INTx7 = 1;,则此时TZFRC和TZCLR封锁正常。PWM1和PWM2都能按周期封锁和解封锁。”
详细描述:是在(2)TZ封锁PWM异常的基础上,通过 注释掉 // PieCtrlRegs.PIEIER1.bit.INTx7 = 1; 方式关闭CPUTimer0中断方式,TZ封锁PWM的功能会恢复正常,异常现象消失。
2、实验现象有多次复现过吗?
答复:该工程修改于官方例程《epwm_ex1_trip_zone》,试验可以一直复现,详细代码见帖子中。你可以用我帖子的代码复现一下这种异常现象。
3、因为TZ信号配置的是在for循环中由软件触发及清除的,所以运行必然会受到其它中断的影响。
答复:①1mS周期的TZ【OST】软件触发和清除,若不开CPUTimer0中断,则软件触发和清楚都是正常的。一旦开启CPUTimer0中断,PWM1则封锁失效,PWM2则依然正常。明显TZ【OST】封锁受到影响,不能有效封锁PWM。我在280049平台验证则是正常的。
②CPUTimer0中无任何TZ相关代码,请问是CPUTimer0是如何影响TZ[OST]封锁PWM的功能,导致封锁PWM失效呢?
4、两路信号的TZ配置有什么区别吗?
答复:两路PWM配置是完全一样的,详见贴中代码配置部分。
因为你本质上还是在代码中通过CPU的方式来实现的EPWM的开关输出,当有中断进到CPU时,即使中断中没有任何代码,CPU还是要执行诸如现场保护与恢复之类的动作,就会影响到原本代码的执行。
实际的使用中并不会遇到这个问题,因为配置好EPWM外设以及其中的TZ子模块后,它们是按照你的配置自动运行的,并不需要CPU的介入,这也是外设存在的意义。比如被驱动的电路过流时,产生相应的信号并输入到TZ模块,这个时候TZ就会自动进行关断操作。只要配置合理,甚至始终都不需要CPU的介入(当然实际使用中一般会需要CPU做一些处理,对整个系统的运行来做一个保障)。
感谢yale li,中断会打断主循环的代码的执行的连续性,但不应该影响寄存器的赋值结果。况且异常只发送在PWM1上,PWM2依旧是正常的。
(1)我将主循环for的TZ【OST】的相关代码搬入CPUTimer0中断服务程序中,并且for中保留 DELAY_US(1000),这种现象也是存在的。通过单步执行,PWM1异常时,EPwm1Regs.TZFRC.bit.OST = 0x01;执行后,EPwm1Regs.TZFLG.bit.OST的标志为依旧为0,正常是要变为1的。
(2)在实际运用中有类似的场景,很多地方需要进行人为开启和关闭PWM,会用到TZ【OST】功能进行PWM封锁和开启。